A New structural configuration of tilting rotor unmanned aerial vehicle modeling

This paper presents the design and modeling of a tri-rotor unmanned aerial vehicle (UAV) system with double front tilt rotors for the flight dynamic control. The aerodynamic model of the tilt-rotor UAV is obtained based on the force and moment equations and its parameters are calculated by several measurements. For the flight dynamics control, the equilibrium point is calculated through a numerical analysis.